mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-19 00:43:54 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix grade force in test_long plant (#2225)

Browse Source 
Co-authored-by: user <email@web.com>
This commit is contained in:
qadmus
2020-09-28 02:54:48 -07:00
committed by GitHub
parent 9983389ffe
commit cba53957bd
2 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
selfdrive/test/longitudinal_maneuvers/plant.py
View File

@@ -49,7 +49,7 @@ def car_plant(pos, speed, grade, gas, brake):
power_peak = 100000 # 100kW
speed_base = power_peak/force_peak
rolling_res = 0.01
g = 9.81
gravity = 9.81
frontal_area = 2.2
air_density = 1.225
gas_to_peak_linear_slope = 3.33
@@ -65,12 +65,12 @@ def car_plant(pos, speed, grade, gas, brake):
else: # power control
force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
force_grade = - grade * mass # positive grade means uphill
force_grade = - np.sin(np.arctan(grade)) * mass * gravity
creep_accel = np.interp(speed, creep_accel_bp, creep_accel_v)
force_creep = creep_accel * mass
force_resistance = -(rolling_res * mass * g + 0.5 * speed**2 * aero_cd * air_density * frontal_area)
force_resistance = -(rolling_res * mass * gravity + 0.5 * speed**2 * aero_cd * air_density * frontal_area)
force = force_gas + force_brake + force_resistance + force_grade + force_creep
acceleration = force / mass

8
selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
View File

@@ -53,20 +53,20 @@ maneuvers = [
checks=[check_engaged],
),
Maneuver(
'while cruising at 20mph, grade change +10%',
'while cruising at 20mph, uphill grade of 10%',
duration=25.,
initial_speed=20. * CV.MPH_TO_MS,
cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
grade_values=[0., 0., 1.0],
grade_values=[0., 0., .1],
grade_breakpoints=[0., 10., 11.],
checks=[check_engaged],
),
Maneuver(
'while cruising at 20mph, grade change -10%',
'while cruising at 20mph, downhill grade of -10%',
duration=25.,
initial_speed=20. * CV.MPH_TO_MS,
cruise_button_presses=[(CB.DECEL_SET, 1.2), (0, 1.3)],
grade_values=[0., 0., -1.0],
grade_values=[0., 0., -.1],
grade_breakpoints=[0., 10., 11.],
checks=[check_engaged],
),